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clear_costamps recovery clear only one layer

asked 2021-02-12 11:12:32 -0500

Hi,

is it possible to configure the clear costmaps recovery to only clear one specific layer in both?

I found the following question in the forum here but cant get it to work. I don't even know howto set up all the requiered parameters for the recovery behaviours and can't find any documenation about it. https://answers.ros.org/question/2525...

I would appreciate any help and ideas, thanks in advance

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answered 2021-02-13 08:58:18 -0500

tryan gravatar image

updated 2021-02-13 13:26:04 -0500

The documentation for recovery behaviors is in the move_base wiki. Basically, you just list the plugins you want to use, and since you specifically mention clear_costmap_recovery, we'll go with that. I agree the clear_costmap_recovery documentation isn't the most informative, but you can get a look at the plugin's parameters by looking at the source code. This line indicates the most relevant parameter to your question, layer_names:

private_nh.param("layer_names", clearable_layers, clearable_layers_default);

This code is a plugin to move_base, so it's parameters are set through that node. Here's an example of how I might set this recovery behavior's parameters in move_base_params.yaml:

recovery_behaviors:
  - name: costmap_reset
    type: clear_costmap_recovery/ClearCostmapRecovery

costmap_reset:
  reset_distance: 0.0
  layer_names: ["my_layer"]

I set the recovery_behaviors parameter of the move_base node to a single-item list (sequence), where the item is indicated by the dash. Note that in the move_base wiki, it shows the default value as an bracketed list (flow style); this is simply a different syntax for the same type of YAML collection. I name the the specific recovery behavior "costmap_reset," and indicate its type. To change its parameters, I define them under its namespace (same as the behavior name) on the same level as recover_behaviors. I tell the plugin to only clear my_layer by giving the layer_names parameter single-item sequence of strings. The actual definition of my_layer is something that happens in the costmap configuration files (see the question you linked), but you can reference those layers here since the move_base node handles all of it.

If you've tried this, and it's not working, please clarify what happens (errors, warnings, behavior, etc.) and post your own files and output for troubleshooting.


Update

i am not sure if it makes a difference when its triggered via rosservice call or move_base directly

The clear_costmaps service and recovery behavior are separate. The service resets all layers and doesn't take parameters, so that's not something you can change without modifying the source code:

bool MoveBase::clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp){
  //clear the costmaps
  boost::unique_lock<costmap_2d::Costmap2D::mutex_t> lock_controller(*(controller_costmap_ros_->getCostmap()->getMutex()));
  controller_costmap_ros_->resetLayers();

  boost::unique_lock<costmap_2d::Costmap2D::mutex_t> lock_planner(*(planner_costmap_ros_->getCostmap()->getMutex()));
  planner_costmap_ros_->resetLayers();
  return true;
}

The service simply calls resetLayers() for both the local (controller_costmap_ros_) and global (planner_costmap_ros_) costmaps.

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Hey man,

thanks for your intuitive answer. I want to clear my custom layer with the recovery and trigger the recovery manually, not only when move_base doesn't find a valid path.

I configured it like your suggestion and triggered the service via the terminal using rosservice call ... (i am not sure if it makes a difference when its triggered via rosservice call or move_base directly).

recovery_behaviors:

- name: 'costmap_reset_conservative' type: 'clear_costmap_recovery/ClearCostmapRecovery'

costmap_reset_conservative: reset_distance: 1.5 layer_names: ["my"]

with my layer configuration beeing:

my:

enabled: true

The only problem i got with this, is that it has cleared every layer, not only my custom one. To solve this i just implemented a service in the source code of my custom layer which sets every cell of the layer to 0. This seems to work quiet nicely so i wont spend more time trying to abuse the recovery behaviour by triggering it myself.

Tristan9497 gravatar image Tristan9497  ( 2021-02-13 10:06:30 -0500 )edit
1

not sure why the formating is messed up sorry

Tristan9497 gravatar image Tristan9497  ( 2021-02-13 10:08:24 -0500 )edit
1

Ah, I see. The service is separate from the recovery behaviors and resets all layers, so your approach with a custom service is the way to go. I updated my answer with some more information.

The code format just adds 4 spaces at the beginning of each line, but sometimes multiple lines come out weird. If you add the spaces manually (plus indentation), it should come out right.

tryan gravatar image tryan  ( 2021-02-13 13:31:38 -0500 )edit
1

Ah, ok that makes sense i should have clarified that at the start of my question... But i guess it's nice to have that information now atleast here at answers.ros for future readers

Thanks for the tip with the formating aswell, ill try to fix that :)

Tristan9497 gravatar image Tristan9497  ( 2021-02-13 15:35:33 -0500 )edit

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Asked: 2021-02-12 11:12:32 -0500

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Last updated: Feb 13